Converter automatic tapping system and method matched with slag stopping cone for use

Abstract

The invention belongs to the technical field of ferrous metallurgy automation control, and relates to a converter automatic tapping system and method matched with a slag stopping cone for use, the system comprises an automatic control system for controlling converter automatic tapping, an algorithm control system and an image intelligent sensing system, the algorithm control system is connected with the automatic control system, and the image intelligent sensing system is connected with the automatic control system. The intelligent image sensing system is connected with the automatic control system to send an optimal tilting tapping curve, a furnace car dynamic matching position curve and an optimal alloy blanking drop point position curve to the automatic control system, and the intelligent image sensing system is used for detecting the state of the corresponding position in the converter tapping process and is connected with the algorithm control system to send detected state information to the algorithm control system. In a traditional steel mill using a slag stopping cone putting device, the method aims at reducing slag entrapment and tapping time, based on the loading amount of the converter, the precise tapping algorithm model and the image intelligent sensing technology are combined, comprehensive monitoring means are configured, and automation and intelligentization of the whole converter automatic tapping process can be achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control of iron and steel metallurgy, and relates to a converter automatic steel tapping system and method used in conjunction with a slag stopper. Background Art

[0002] In the smelting process of steel mills, the furnace smelting cycle mainly includes iron addition, oxygen blowing, charging, temperature measurement and sampling, steel tapping, slag splashing and furnace protection, slag pouring and other processes. In the traditional converter steelmaking method, during the converter smelting and steel tapping stage, the steel tapper in the operation room behind the furnace needs to operate the converter handle with his right hand to control the tilting and shaking of the furnace, and operate the ladle car button with his left hand to control the movement of the ladle car, argon blowing at the bottom of the ladle, and alloy charging to complete the entire steel tapping process. The manual steel tapping process has the following status quo and pain points:

[0003] 1) The manual steel-making process requires the cooperation of multiple people and multi-point operation. The operation is manual, fragmented, and monitored by multiple people. The labor intensity of workers is high, and the site is exposed to high temperatures, large dust, splashing of molten steel and slag, and other harsh environments, which affect the physical and mental health and personal safety of workers.

[0004] 2) Manual tapping control has low precision and is unstable, and there are large differences between operators, resulting in large fluctuations in the tapping cycle and unstable residual steel control, which is not conducive to standardized and intelligent production;

[0005] 3) Various safety accidents are prone to occur during manual steel tapping, such as excessively large furnace shaking angle, slag overflow from the furnace mouth, slag rolling at the steel tapping mouth, and even furnace shaking out of control. Once these situations occur, they may cause serious harm to workers and equipment.

[0006] 4) Due to the randomness of manual operation, slag overflow from the furnace mouth and slag overflow into the slag basin of the ladle car often occurs, which not only causes the slag under the furnace to splash everywhere, but also poses the risk of burning the power cable of the ladle car, thereby causing a production accident in which the ladle car cannot move.

[0007] Secondly, in the scenario where the slag stopper is used in conjunction with converter tapping, and because the temperature of the molten steel tapping from the converter is very high and the calorific value brightness is also very high, at the same time, a large amount of flame and smoke is generated when the molten steel is injected into the ladle, which has a great impact on the naked eye observation of the tapping worker, and the error of manual judgment is large, and the control accuracy of the manual crankshaft tapping is difficult to guarantee. A large amount of slag often occurs, and at the same time, the overflowing slag from the furnace mouth does not flow into the slag basin but at the edge of the slag basin, causing a large amount of slag to fall on the ladle car, the ladle car track and the ladle car drum cable, thereby burning the ladle car cable and causing the ladle car track to be blocked. Therefore, in the process of converter tapping, the overflowing slag from the converter mouth should be avoided from overflowing from the slag basin and causing other accidents.

[0008] As inherent safety puts higher demands on safety protection standards, and facing the trend of intelligent and efficient development of traditional manufacturing, the steel industry needs to introduce smart steelmaking technology that can cover multiple process links such as the steelmaking cycle, effectively guide and control the standardized production and smelting costs of important links in the steelmaking cycle, and improve the level of production intelligence.

[0009] In order to respond to this demand, the present invention proposes a converter automatic steel tapping system and method used in conjunction with a slag stopper. Summary of the invention

[0010] In view of this, the purpose of the present invention is to provide a converter automatic steel-tapping system and method for use in conjunction with a slag stop cone to solve the problems and pain points raised in the background technology, thereby reducing slag rolling and steel-tapping time, reducing "molten steel rephosphorization", and improving the purity of molten steel. The entire steel-tapping process can be operated with fewer people, thereby saving manpower, reducing labor intensity, and improving workshop production efficiency and standardized operation rate.

[0011] In order to achieve the above object, the present invention provides the following technical solutions:

[0012] A converter automatic steel-tapping system used in conjunction with a slag stop cone comprises an automatic control system for controlling the automatic steel-tapping of the converter, an algorithm control system and an image intelligent perception system, wherein the algorithm control system is connected to the automatic control system to send an optimal tilting steel-tapping curve, a furnace car dynamic matching position curve and an optimal alloy material discharge point position curve to the automatic control system, and the image intelligent perception system is used to detect the state of the corresponding position of the converter steel-tapping process, and is connected to the algorithm control system to send the detected state information to the algorithm control system.

[0013] Furthermore, the automatic control system includes a converter tilting control module, a ladle car travel control module and an alloy unloading control module, the algorithm control system includes an optimal tilting steel-making curve algorithm module, a furnace car dynamic matching position curve module and an alloy feeding algorithm module, and the image intelligent perception system includes a converter furnace mouth slag overflow detection module, a furnace under steel flow landing point detection module and a furnace slag cone recognition module.

[0014] Furthermore, the converter tilting control module, the ladle car travel control module and the alloy unloading control module are arranged in the PLC control cabinet, the optimal tilting steel-out curve algorithm module, the furnace car dynamic matching position curve module and the alloy feeding algorithm module are arranged in the model algorithm server, the converter furnace mouth slag overflow detection module, the furnace under steel flow landing point detection module and the furnace slag cone recognition module are arranged in the image intelligent recognition server, and the image intelligent recognition server is connected to the model algorithm server, and the model algorithm server is connected to the PLC control cabinet.

[0015] Furthermore, the converter tilting control module is respectively connected to the tilting frequency converter and the tilting encoder to control the tilting of the converter, the ladle car travel control module is respectively connected to the ladle car frequency converter and the distance measuring device to control the travel of the ladle car, and the alloy unloading control module is connected to the alloy rotating chute motor to control the alloy unloading.

[0016] Furthermore, the converter mouth slag overflow detection module and the furnace slag cone identification module are both connected to the furnace mouth slag overflow detection camera to detect the furnace mouth slag overflow and the slag cone status, and the furnace under the steel flow landing point detection module is connected to the steel flow detection camera to detect the steel flow landing point.

[0017] Further, the tilting frequency converter is connected to the converter tilting transmission device to control the tilting of the converter, and the tilting encoder is used to detect the tilting angle of the converter;

[0018] The ladle car frequency converter is connected to the ladle car running device to control the running of the ladle car.

[0019] Furthermore, the distance measuring device includes two diffuse reflection laser distance meters arranged at the ends of the track for carrying the ladle car running device, so as to detect the actual position of the ladle car in real time.

[0020] Furthermore, the converter tilting control module is also connected to a slag stop cone placing device to control the slag stop cone placing device to place the slag stop cone into the converter furnace mouth when the converter tilts to a specified angle.

[0021] Furthermore, the automatic control system also includes an interlocking control module connected to the converter tilting control module, the ladle car travel control module and the alloy unloading control module, so as to generate an alarm when a situation that does not meet the safety control requirements occurs during the converter steelmaking process.

[0022] Furthermore, the automatic control system also includes an interlocking control module connected to the converter tilting control module, the ladle car running control module, the alloy unloading control module and the safety control module, so that when the linkage control conditions are not met, the converter tilting control module, the ladle car running control module, the alloy unloading control module and the safety control module are locked through the interlocking control module.

[0023] Furthermore, it also includes an operation station, and the algorithm control system and the operation station are connected to the automatic control system through a switch. The operation station includes an HMI touch screen, an engineer workstation and data analysis software to send and receive information.

[0024] Furthermore, the operating station also includes an audible and visual alarm device to cooperate with the safety control module to issue an audible and visual alarm.

[0025] Furthermore, it also includes a slag detection system for detecting the steel-slag ratio, and the slag detection system is connected to the converter tilting control module.

[0026] A converter automatic steel tapping method used in conjunction with a slag stopper cone, using the converter automatic steel tapping system used in conjunction with a slag stopper cone, specifically comprising the following steps:

[0027] S1. When the molten steel of this batch reaches 80% of the smelting cycle, after confirming that the ladle car is successfully seated and the tank sand drainage has been completed, the ladle car is driven into the automatic tapping control range and waits for tapping;

[0028] S2. After the gun operator completes the temperature measurement and sampling in front of the furnace and pouring the slag, he drives the slag tank car away from the slag receiving position under the furnace;

[0029] S3. After the gun operator confirms that step S1 and step S2 are completed, the automatic steel-tapping mode is selected, and the automatic steel-tapping mode includes the L2 control mode. The steel-tapping control curve in the L2 control mode is trained by the algorithm control system according to the metallurgical theory and the big data self-learning historical shaking furnace data curve combined with the image intelligent perception deep learning algorithm, and the steel-tapping control curves of different periods are established based on the life of the steel-tapping port, so as to select the optimal steel-tapping control curve to realize automatic steel-tapping control;

[0030] S4. The tapping worker confirms that the automatic tapping interlocking conditions are met. If not, manual safety reset is required;

[0031] S5. The steel tapper makes an automatic steel tapping instruction in the operation station, and the converter tilting control module in the automatic control system receives the optimal tilting steel tapping curve for the current furnace issued by the algorithm control system, and controls the converter to run at the third tilting speed to 65°, then at the second tilting speed to 70°, and then at the first tilting speed to the first initial target angle of 78° to 82° for converter steel tapping. When the converter reaches the first initial target angle, the converter tilting control module controls the converter according to the optimal tilting steel tapping curve;

[0032] At the same time, the ladle car travel control module receives the dynamic matching position curve of the current furnace car sent by the algorithm control system, so that the ladle car automatically travels to the target position corresponding to the converter tilting angle, and detects the actual position of the ladle car in real time through the distance measuring device, and takes the difference D between the target position and the actual position as the criterion. When 20mm≤D≤500mm, the ladle car travels to the target position at the first travel speed, when 500mm≤D≤2000mm, the ladle car travels to the target position at the second travel speed, when 2000mm≤D≤5000mm, the ladle car travels to the target position at the third travel speed, and when 5000mm≤D≤30000mm, the ladle car travels to the target position at the fourth travel speed, so that the distance deviation between the actual position of the ladle car and the target position is within 20mm, thereby forming a dynamic matching relationship between the travel of the ladle car and the converter tilting;

[0033] S6. When the converter automatically tilts to the angle range where the slag stop cone is placed by the slag stop cone placing device, the converter tilting control module controls the converter to stop tilting, and controls the slag stop cone placing device to run to place the slag stop cone in the converter furnace mouth. When the slag stop cone placing device completes the placement, a feedback signal is given to the converter tilting control module, and the converter tilting control module controls the converter to continue tilting until automatic steel tapping is completed.

[0034] Further, in step S5, the first tilting speed is 0.15 r / min to 0.225 r / min, the second tilting speed is 0.45 r / min to 0.6 r / min, and the third tilting speed is 0.9 r / min to 1.14 r / min;

[0035] The first running speed is 1.4m / min~2.1m / min, the second running speed is 3.5m / min, the third running speed is 10m / min, and the fourth running speed is 35m / min.

[0036] Furthermore, in step S5, the converter tilting control module controls the converter tilting by providing a virtual handle in the converter tilting control module, and controlling the converter tilting by the virtual handle.

[0037] Furthermore, an angle encoder is provided on the output shaft of the alloy rotary chute motor, and the angle encoder is connected to the alloy unloading control module to control the landing point position of the alloy unloading chute.

[0038] Further, in step S5, during the process of the converter tilting control module controlling the converter tilting to automatically discharge steel, the alloy unloading control module receives the alloy weight value in the alloy unloading control module by connecting with the alloy baking device, and records the alloy weight as W1 before the unloading gate of the alloy baking device is opened, and controls the initial opening of the unloading gate to be 50%. If the weight W is recorded from the time when the unloading gate is opened 50% to the first unloading flow measurement time T1, T1 ,calculate And calculate the A of the corresponding period through the alloy feeding control module 目标值下限 and A 目标值上限 , if a<A 目标值下限 Then the control gate opening increases by 15%. If a>A 目标值上限 Then the opening of the unloading gate is controlled to decrease by 10%, and so on. The entire alloy unloading is divided into n time periods, and the unloading speed of each time period is calculated to control the unloading amount of the alloy, so as to prevent the alloy material from falling into the ladle car in block form, which will cause uneven alloying of the ladle car.

[0039] Furthermore, the converter tilting control module controls the converter tilting through a tilting frequency converter, and the tilting frequency converter includes four tilting frequency converters to correspondingly control the three-phase AC asynchronous motors in the four converter tilting transmission devices;

[0040] The converter tilting control module communicates with four tilting frequency conversion devices in real time using an industrial Ethernet bus, and a master-slave control strategy is adopted for the tilting frequency conversion devices.

[0041] Furthermore, in step S6, when the slag stop cone placing device is running to place the slag stop cone in the converter furnace mouth, the operating status of the slag stop cone placing device is judged in real time through the safety control module. If it is operating normally, automatic steel tapping continues; if it is abnormal, an emergency stop command is issued and manual intervention is requested.

[0042] Further, it also includes steps S7 and S8;

[0043] S7. During the automatic steel tapping process, the safety control module uses the furnace mouth slag overflow detection camera and the steel flow detection camera to determine the furnace mouth slag overflow level and steel flow landing point and the position of the ladle car in real time to ensure the real-time safety control of automatic steel tapping;

[0044] S8. The converter tilting control module is linked with the slag detection system. When the slag detection system detects that the steel-slag ratio is greater than the slag amount allowed by production, the converter automatically ends tapping, and at the same time the converter tilts to a range of -22 to 24° to facilitate maintenance workers behind the furnace to maintain the tapping port.

[0045] Further, in step S6, the method in which the safety control module determines the operating state of the slag stop cone delivery device is:

[0046] A mechanical limit is set at the standby position of the running track of the slag stop cone delivery device, and is connected to the safety control module through hard wiring to detect the operating position of the slag stop cone delivery device, and the image of the slag stop cone delivery device moving forward to the working position to deliver the slag stop cone during the converter steelmaking process is observed through the furnace mouth slag overflow detection camera, and the position signal of the slag stop cone delivery device observed by the furnace mouth slag overflow detection camera is transmitted to the safety control module for redundant position comparison and judgment with the mechanical limit, thereby determining whether the slag stop cone delivery device is operating normally when the converter automatically tilts to the angle range where the slag stop cone is delivered by the slag stop cone delivery device.

[0047] Further, in step S7, the method by which the safety control module determines the furnace mouth slag overflow level, the steel flow landing point, and the ladle car position is:

[0048] The furnace mouth slag overflow detection camera is used to identify the furnace mouth slag overflow level, and the furnace mouth slag overflow level is divided into R1~R5 levels. If the furnace mouth slag overflow level is R1~R3, combined with the smelting production permission, the safety control module sends an HMI alarm. If the furnace mouth slag overflow level is R4, combined with the smelting production permission, the safety control module cooperates with the converter tilting control module to lift the converter back by 1.5°. If the furnace mouth slag overflow level is R5, combined with the smelting production permission, the safety control module cooperates with the converter tilting control module to lift the converter back by 2~3°.

[0049] The steel flow detection camera is used to observe the steel flow landing point and the position of the ladle car under the furnace, and the algorithm server is connected through a network data cable to perform intelligent image perception calculation and processing. If the steel flow landing point is within the inclusion line of the steel flow landing point allowed by the ladle, the automatic steel tapping system of the converter will not alarm; if the steel flow landing point is outside the inclusion line of the steel flow landing point allowed by the ladle, the automatic steel tapping system of the converter will immediately issue a red alarm, and the converter will be shaken back to 0°; if the steel flow landing point is within the inclusion line of the steel flow landing point allowed by the ladle, and deviates from the maximum safe distance of the ladle center, the ladle car travel control module will issue the latest ladle car target position, and control the automatic travel of the ladle car to ensure that the steel flow landing point is within the minimum safe distance of the ladle center.

[0050] The beneficial effects of the present invention are:

[0051] The present invention provides a system and method for automatic steel tapping from a converter used in conjunction with a slag stop cone. In traditional steel mills that use a slag stop cone placing device, the above method is modified to reduce slag rolling and steel tapping time. Based on the loading amount of the converter, combined with an accurate steel tapping algorithm model and image intelligent perception technology, comprehensive monitoring means are configured to achieve automation and intelligence in the entire converter automatic steel tapping process. The entire steel tapping process can be operated with fewer people, saving manpower, reducing labor intensity, and improving workshop production efficiency.

[0052] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0054] Figure 1 It is a schematic flow diagram of a converter automatic steel tapping method used in conjunction with a slag stopper in the present invention;

[0055] Figure 2 A schematic diagram of the network architecture of a converter automatic steel-tapping system used in conjunction with a slag-blocking cone in the present invention;

[0056] Figure 3 It is a master-slave scheme configuration diagram of the converter tilting frequency converter of the present invention;

[0057] Figure 4 It is a schematic diagram of the optimal tilting steel-discharging curve of the converter tilting in the present invention;

[0058] Figure 5 It is a schematic diagram of the position curve of the dynamic matching between the converter and the ladle car in the present invention. DETAILED DESCRIPTION

[0059] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0060] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0061] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0062] See also Figure 1 , is a converter automatic tapping control method used in conjunction with a slag stopper, specifically comprising the following steps:

[0063] S1. When the molten steel of this batch reaches 80% of the smelting cycle, confirm that the ladle car is successfully seated and the sand drainage is completed. At the same time, the ladle car is driven into the automatic tapping control range and waits for tapping;

[0064] S2. After the gun operator in the control room in front of the furnace completes the temperature measurement and sampling and slag pouring in front of the furnace, he drives the slag tank car away from the slag receiving position under the furnace;

[0065] S3. After the operator in the control room confirms that step S1 and step S2 are completed, the automatic steel-making mode is selected, and the automatic steel-making mode includes L1 control mode, L2 control mode and semi-automatic steel-making mode;

[0066] If the L2 control mode is selected, the steel tapping control curve is trained by the algorithm control system based on metallurgical theory and big data self-learning historical furnace shaking data curve combined with image intelligent perception deep learning algorithm, and the steel tapping control curves of different periods are established based on the life of the steel tapping port, so as to select the optimal steel tapping control curve (such as Figure 4 As shown), to realize automatic steel tapping control; at the same time, L1 control mode and semi-automatic steel tapping mode are used as backup protection modes to realize multi-mode control of automatic steel tapping;

[0067] S4. Reconfirm the automatic steel tapping interlocking condition judgment. If it is not met, manual safety reset is required;

[0068] S5. The tapping worker in the operation room behind the furnace presses the "one-button tapping start" button, and the converter automatically receives the optimal tilting tapping curve for the current furnace issued by the algorithm control system, and immediately runs to 65° at the third tilting speed (0.9r / min~1.14r / min), and then runs to 70° at the second tilting speed (0.45r / min~0.6r / min), and then runs to the first initial target angle of 78°~82° at the first tilting speed (0.15r / min~0.225r / min). When the converter reaches the first initial target angle, it is controlled according to the optimal tilting tapping curve, that is, it acts according to the tapping time, tapping steps, tapping target angle, tapping target upper limit angle, and tapping target lower limit angle specified by the optimal tilting tapping curve;

[0069] At the same time, the ladle car is in automatic operation and automatically receives the dynamic matching position curve of the current furnace car issued by the algorithm control system (such as Figure 5 As shown), that is, the tilting angle of the converter steel-tapping interval automatically corresponds to the target position of the ladle car every two degrees, and the ladle car detects the actual position of the ladle car in real time through a redundant laser rangefinder, and takes the difference D between the target position and the actual position as the criterion. When 20mm≤D≤500mm, the ladle car runs to the target position at the first running speed (1.4m / min~2.1m / min); when 500mm≤D≤2000mm, the ladle car runs to the target position at the second running speed (3.5m / min) Approach the target position; when 2000mm≤D≤5000mm, the ladle car approaches the target position at the third running speed (10m / min); when 5000mm≤D≤30000mm, the ladle car approaches the target position at the fourth running speed (35m / min), thereby ensuring that the distance deviation between the actual position of the ladle car and the target position is within 20mm. During this process, the slow movement of the ladle forms a dynamic matching relationship with the action of the converter, the converter automatically tilts, and the ladle car automatically moves;

[0070] S6. When the converter automatically tilts to the angle range where the slag cone placing device places the slag cone, the slag cone placing device runs to place the slag cone in the converter furnace mouth. During this process, the safety control module determines the status of the slag cone placing device in real time. If it is operating normally, the automatic steel tapping continues. If it is not normal, an emergency stop request is issued;

[0071] S7. During the automatic steel tapping process, the safety control module of the automatic control system installs a first thermal imaging camera on the platform behind the furnace and a second thermal imaging camera next to the manual alloy unloading chute near the operation room behind the furnace to monitor the slag overflow level at the furnace mouth and the steel flow landing point and the ladle mouth position in real time, thereby ensuring the safety control of automatic steel tapping in real time;

[0072] S8. Linked with the slag detection system, when the slag detection system detects that the steel-slag ratio is greater than the slag amount allowed by production, the converter automatically finishes tapping, and the converter is immediately and automatically lifted to the range of -22 to 24° to facilitate the maintenance workers in the operation room behind the furnace to maintain the tapping port.

[0073] Specifically, the tilting steel-tapping control curve of the L2 control mode is optimized by the algorithm control system through self-learning of the historical data of the manual steel-tapping curve, and a tilting steel-tapping curve table of set values ​​of the steel-tapping time, number of steel-tapping steps, target steel-tapping angle, target upper limit angle, and target lower limit angle is generated according to the average step gradient distribution method. Then, the optimal tilting steel-tapping curve is selected based on the current furnace conditions, the life of the steel-tapping port, and the loading volume parameters, and sent to the automatic control system to realize automatic steel-tapping control.

[0074] Among them, the method of self-learning optimization of the historical data of the artificial steel-tapping curve is: according to the steel-tapping port life and the converter loading amount and the converter calibration model simulation algorithm, the abnormal steel-tapping data is eliminated and the reasonable steel-tapping control curve is selected;

[0075] The average step gradient distribution method is as follows: based on the historical data of manual steel tapping, determine the tilting angle value of the first step of converter steel tapping, the tilting angle value of placing the slag stop cone and the tilting angle value of the last step of finished steel tapping, and then set the step control range of each step to 0.8°~1.5°, find out the characteristic points of the steel tapping curve, and while ensuring the step control range, produce the target angle value and steel tapping time for each step of the tilting steel tapping curve according to the average step gradient distribution method.

[0076] The control method of L1 control mode is to classify every 10 furnaces according to the value of the tapping port life, select a reasonable tapping control curve from the 10 furnaces and store it in the automatic control system. Then, in actual use, according to the current value of the tapping port service life, automatically select a reasonable tapping control curve and manually modify the characteristic point value in advance as the tapping control curve for the current furnace.

[0077] The semi-automatic steel-out mode is used as a backup protection mode. In the early stage of the heat load test or the debugging and maintenance stage, this mode can be selected to test the automatic running state of the ladle car with the converter tilting. The tilting manual shaker is controlled and the ladle car is automatically controlled.

[0078] The automatic steel-tapping interlocking conditions are: the automatic steel-tapping mode is selected at the operating table in front of the furnace or the automatic steel-tapping mode is selected at the operating table behind the furnace; the basic conditions of the tilting system are ready; the operating handle of any operating location of the tilting system is not in the shaking furnace; the tilting system has no emergency stop; the basic conditions of the ladle car are ready; the ladle car has selected the automatic steel-tapping mode; the ladle car has no emergency stop; the diffuse reflection laser rangefinder of the ladle car is ready; the current position of the ladle car is within the steel-tapping range; the slag detection system is ready; the slag cone delivery device is ready; the furnace mouth slag overflow detection camera is ready; the steel flow detection camera is ready; the steel-tapping model has not issued a steel-tapping end signal; the steel-tapping control curve is ready; the ladle car position walking furnace car dynamic matching position curve is ready; the algorithm control system is ready; the communication between the algorithm control system and the automatic control system is normal; the communication between the converter body and the automatic control system is normal; the tilting angle encoder communicates normally; the diffuse reflection laser rangefinder communicates normally; the tilting automatic steel-tapping mark is normal.

[0079] Furthermore, the first initial target angle of the steel tapping control curve in step S5 is calculated by the algorithm control system according to the converter charge amount, converter erosion amount, and converter slag amount.

[0080] Furthermore, in step S5, after the converter is tilted to the first initial target angle, the optimal tilting steel-making curve is used for operation control. First, the absolute value D[1] ([1] represents the first step number) of the angle difference between the execution tilting target angle of the first step number and the actual tilting angle is calculated. Then, when the steel-making time reaches the first step number time, a tilting instruction to the rear of the furnace is issued at the same time. The actual angle of the converter approaches the target angle. When the angle absolute value D[1] difference is greater than 0.8° and less than 1.0°, the tilting instruction to the rear of the furnace is stopped after a delay of 900ms. When the angle absolute value D[1] difference is greater than 0.8° and less than 1.0°, the tilting instruction to the rear of the furnace is stopped after a delay of 900ms. [1] When the angle difference is greater than 0.4° and less than or equal to 0.8°, a delay of 700ms will be applied to stop issuing the tilting command to the rear of the furnace; when the absolute value of the angle difference D[1] is greater than 0° and less than or equal to 0.4°, a delay of 300ms will be applied to stop issuing the tilting command to the rear of the furnace; when the absolute value of the angle difference D[1] is greater than or less than 0.3° or the actual angle is greater than or equal to the set step target angle TapAimAngle[1] or when steel tapping is completed, the tilting command to the rear of the furnace will be stopped immediately to ensure that the converter stop accuracy is 0.3°. Similarly, the other step motion control is the same as the first stage step control.

[0081] Furthermore, in the step S5, the ladle car is in an automatic operation state and automatically receives the dynamic matching position curve of the current furnace car, which mainly includes the lower limit of the dynamic matching tilt angle of the furnace car, the upper limit of the dynamic matching tilt angle of the furnace car, the target position of the ladle car, the upper limit of the target position of the ladle car, and the lower limit of the target position of the ladle car. A new target position of the ladle car is determined every two degrees of the tilt angle. The difference D between the target position and the actual position of the ladle car is used to automatically determine the speed control of the ladle car and ensure that the travel accuracy of the ladle is within 20 mm.

[0082] Further, in step S6, when the converter automatically shakes to the slag stop cone delivery device to deliver the slag stop cone angle range, the slag stop cone delivery device delivery angle range is given by the algorithm control system, and when the converter tilting control module automatically shakes to this range, it keeps the current position unchanged, and the converter steel flow is continuously injected into the ladle, the slag stop cone delivery device automatically opens into the furnace mouth to deliver the slag stop cone and successfully completes the signal, the slag stop cone withdraws to the standby position, at this time the converter tilting control module receives the standby position signal again, and continues to operate and discharge steel after the furnace.

[0083] Furthermore, in step S7, in order to ensure the real-time safety control of automatic steel tapping, a furnace mouth slag overflow detection camera is installed on the rear platform of the furnace and a steel flow detection camera is installed next to the manual alloy unloading chute near the rear operation room of the furnace to monitor the furnace mouth slag overflow level, steel flow landing point and ladle mouth position in real time.

[0084] Furthermore, in step S7, the slag overflow level at the furnace mouth is judged by mainly judging the distance between the slag surface and the furnace mouth through image visual analysis and divided into five safety levels R1 to R5, where R1 to R2 are mild slag overflow, R3 to R4 are moderate slag overflow, and R5 is severe slag overflow.

[0085] Furthermore, in step S7, the position of the steel flow landing point and the ladle mouth (ladle car) is judged mainly by image visual analysis. The distance between the steel flow and the center of the ladle mouth is divided into three safety levels of R1~R3 ​​and L1~L3. R1 / L1 is 100mm offset from the center of the ladle, R2 / L2 is 200mm~300mm offset from the center of the ladle, and R3 / L3 is 500mm offset from the center of the ladle. Among them, R1 / L1 and R2 / L2 are normal control, and R3 / L3 is a severe alarm. The ladle car needs to be moved 200mm through the ladle car travel control module to restore it to the R2 / L2 level.

[0086] Furthermore, in step S8, during the steel tapping process, the slag detection system is composed of a slag detection camera, a field operation box, a gas control box, a processing cabinet, an industrial computer, connecting cables, etc. Mainly based on the characteristic that the radiation coefficient of slag in the infrared band is significantly larger than that of molten steel, the imaging principle of a special slag detection camera and special calculation processing are used to accurately determine whether to start slag tapping.

[0087] Furthermore, in the step S8, the automatic control of lifting the furnace during the steel tapping process is that the converter tilting control module of the automatic steel tapping control system obtains the steel-slag ratio signal of the slag discharging system through hard wiring. When the converter steel tapping is about to end, if the slag discharging detection steel-slag ratio is greater than the slag discharging amount allowed by production, the converter automatic steel tapping alarm prompts the end of automatic steel tapping, and the converter is immediately automatically lifted to the range of -22 to 24° to ensure the steel tapping port and ball-poking maintenance processing at the rear operation station of the furnace. Through the rapid furnace lifting action, it is faster than manual furnace lifting, further reliably reduces the "rephosphorus return of molten steel", and improves the purity of molten steel.

[0088] Furthermore, the automatic control system of steps S1 to S8 uses Ethernet communication to interconnect with the converter tilting control module, the ladle car travel control module and the alloy unloading control module to transmit control signals.

[0089] Furthermore, the converter tilting control module and the four tilting frequency converters, and the ladle car travel control module and the ladle car frequency converter are connected using an industrial Ethernet PROFINET bus.

[0090] like Figure 2 The figure is a schematic diagram of the network architecture of a converter automatic steel-tapping system used with a slag-blocking cone. The converter automatic steel-tapping system includes a PLC control system (converter automatic steel-tapping PLC control cabinet), a touch screen, a model algorithm server, an image intelligent recognition server, a diffuse reflection laser rangefinder (corresponding to Figure 2 Redundant distance meter in the furnace), tilting frequency converter, converter tilting transmission device, ladle car frequency converter, ladle car running device, slag cone, furnace mouth overflow detection camera, steel flow detection camera, slag detection system (corresponding to Figure 2 Slag detection in the network) and network accessories, etc.

[0091] Specifically, in this embodiment, the converter automatic steel-tapping PLC control cabinet uses SIEMENS CPU 1516-3PN / DPCPU controller, which is used to control the converter tilting control module, the ladle car travel control module, the alloy unloading control module, the safety control module, the interlocking control module, etc.

[0092] The tilting frequency converter uses the S120 series high-performance AC variable frequency drive control system products of German SIEMENS company as the electrical drive speed control system for steelmaking production. The converter tilting drive device includes 4 three-phase AC asynchronous motors (315kW), 4 feedback rectifiers (500kW), 4 inverters (450kW), 4 SMC30 encoder modules and matching incoming line switches, incoming line reactors, output reactors, brake units, brake resistors, etc. One set of tilting frequency converter corresponds to one three-phase AC asynchronous motor, and is equipped with a CU320-2PN control unit processor, and is connected to the converter automatic steel-making PLC control cabinet through the industrial Ethernet PROFINET bus to control the converter tilting frequency converter and perform fast synchronous transmission of related variables between the converter tilting drive devices, and can flexibly handle the switching between the master and slave systems.

[0093] Specifically, the four frequency converter control units CU320-2PN corresponding to the four tilting frequency converters use the industrial Ethernet PROFINET bus to perform isochronous communication.

[0094] Specifically, the automatic control of the converter tilting is a method of achieving automatic shaking and precise control of the converter by setting a "virtual handle" type in the converter tilting control module of the automatic control system and simultaneously receiving the steelmaking curve of the optimal tilting steelmaking curve algorithm module of the algorithm control system.

[0095] In this method, the converter tilting control module and the four tilting frequency converters use the industrial Ethernet bus for real-time communication, and the frequency converter adopts a master-slave control strategy. The host speed regulator is PI control + the slave speed regulator is P control, and the integral control component of the host speed regulator is transmitted to the slave for torque compensation. The master-slave scheme configuration is as follows: Figure 3 As shown. The main machine adopts PI control of the speed regulator to achieve zero-difference control of the process speed (generally first-order excitation). In the dynamic process, the speed regulator of the slave adopts P control, so that the actual speed of the slave forms a speed deviation with the speed of the main machine through mechanical coupling, thereby realizing the "decoupling" of the slave and the main machine, reducing the strong coupling effect of the deviation generated by the dynamic process between the master and the slave, and reducing the degree of system oscillation. In steady state, since the speed deviation tends to 0, it is completely determined by the integral control amount. Since the master and the slave adopt consistent integral control, the speed consistency and load uniform distribution can be achieved. It can effectively control the tilting and shaking furnace accuracy to within 0.3°, and reduce the vibration of the converter body and the tilting device during the steel tapping process, avoid the occurrence of converter nodding, shaking, and shaking, and ensure continuous, stable and automatic steel tapping.

[0096] Specifically, the optimal tilting steel-making curve is composed of the steel-making time, the number of steel-making steps, the steel-making target angle, the steel-making target upper limit angle, the steel-making target lower limit angle, etc. It can be automatically set to 15 to 50 steps based on the self-learning of the historical furnace steel-making curves. According to the automatic steel-tapping curve of tilting, the angle deviation between the actual tilting angle and the target angle before each step is judged. When the absolute deviation is greater than 1°, the first tilting speed runs to the control instruction of the furnace shaking control at the back of the furnace until it is less than or equal to the target angle and then stops; when the absolute deviation is greater than 0.8° and less than 1°, the first tilting speed is controlled to run for 900ms to the control instruction of the furnace shaking control at the back of the furnace and then stops; when the absolute deviation is greater than 0.4° and less than or equal to 0.8°, the first tilting speed is controlled to run for 700ms to the control instruction of the furnace shaking control at the back of the furnace and then stops; when the absolute deviation is greater than 0° and less than or equal to 0.4°, the first tilting speed is controlled to run for 300ms to the control instruction of the furnace shaking control at the back of the furnace and then stops; when the absolute deviation is equal to 0 or the holding time of the current step is reached or the end of automatic steel-tapping is received, it stops immediately. By accurately controlling the running time of the first tilting speed to the control instruction of the furnace shaking control at the back of the furnace, the accuracy of the tilting and shaking furnace is less than or equal to 0.3°, ensuring continuous and stable steel-tapping.

[0097] Specifically, from pressing the "one-button steel-making start" button to the operation control of the first initial angle value of the optimal tilting steel-making curve, the converter tilting frequency converter device immediately runs to the third tilting speed of 65° upon receiving the converter operation instruction, and then runs to the second tilting speed of 70°, and then runs to the first tilting speed to the first initial angle of steel-making of about 80°. The first initial angle is given by the optimal tilting steel-making curve.

[0098] Specifically, when the converter tilting and shaking furnace steel tapping runs to the last step of the optimal tilting steel tapping curve or the slag detection steel-slag ratio is greater than the slag amount allowed by production, the converter automatic steel tapping alarm prompts the end of automatic steel tapping, and the converter immediately and automatically lifts the furnace to the range of -22 to 24°, ending the converter automatic system and exiting.

[0099] Specifically, the ladle car inverter of this embodiment adopts the S120 series high-performance AC variable frequency transmission control system product of German SIEMENS company as the electric transmission speed control system of the ladle car. The ladle car transmission device includes two three-phase AC asynchronous motors (75kW), inverter power module PM340, inverter control unit CU310-2PN, and matching incoming line fuse switch, incoming line reactor, output reactor, brake unit, brake resistor, etc. The frequency conversion device is equipped with CU320-2PN control unit processor, which is connected to the PLC upper control system through the industrial Ethernet PROFINET bus to realize the control between the inverter device and the controller.

[0100] Specifically, when the converter is tilted for automatic steel tapping, it is necessary to select the rear-furnace or central control operation authority and none of the handles are manually operated. Once manually operated, it will automatically switch to normal manual control to ensure safe use with the highest priority for people.

[0101] Specifically, the operation control from pressing the "one-button steel-out start" button to the first initial position value of the dynamic matching position curve of the furnace car needs to meet the requirements that the position of the ladle car is greater than 53m (the distance between the ladle car and the diffuse reflection laser rangefinder) and the ladle car is in the L2 automatic mode, that is, there is no button action at other operating locations of the ladle car. The ladle car inverter device will immediately run to the ladle car target position of 54 meters (the distance between the ladle car and the diffuse reflection laser rangefinder) corresponding to the tilt angle of -22° to -78° upon receiving the start-up operation command, and then follow the tilt angle It runs in sequence to the target position of the ladle car of 54 meters corresponding to the tilting angle of -78°~-80°, and then follows the tilting angle to run in sequence to the target position of the ladle car of 54.5 meters (the distance between the ladle car and the diffuse reflection laser rangefinder) corresponding to the tilting angle of -80°~-82°, and so on. Finally, the ladle car follows the tilting angle to run in sequence to the target position of the ladle car of 57.9 meters (the distance between the ladle car and the diffuse reflection laser rangefinder) corresponding to the tilting angle of -102°~-130°. The molten steel is tapped and exits the converter automatic tapping system.

[0102] Specifically, in order to solve the problem of ladle cars being unable to smelt due to burning of power cables in a harsh smelting production environment, this embodiment cancels the brake action of the ladle car during the production process, so that the ladle car can accurately stop by increasing friction by its own weight. Therefore, during the automatic movement of the ladle car, the ladle car detects the actual position of the ladle car in real time through a redundant laser rangefinder, and the difference D between the target position and the actual position is used as the speed control speed change criterion to ensure that the distance deviation between the actual position of the ladle car and the target position is within 20mm. In this process, the slow movement of the ladle forms a dynamic matching relationship with the action of the converter. In this example, the threshold value of the first tilting speed zone is 0.5m (i.e., D≤500mm), the threshold value of the second tilting speed zone is 0.8m (i.e., 500mm≤D≤800mm), the threshold value of the third tilting speed zone is 2m (i.e., 800mm≤D≤2000mm), and the threshold value of the first running speed zone is 5m (i.e., 5000mm≤D≤30000mm).

[0103] Specifically, when the ladle car is automatically discharging steel, the authority of the operating console behind the furnace must be selected, the operating box under the furnace must be released, the tank sand drainage operating box must be released, the wire feeding position operating box must be released, and all buttons at any operating location must be unoperated. Only then will the ladle car be allowed to move automatically, ensuring human-first and safe use.

[0104] Specifically, during the operation of the converter automatic steel-tapping system, the safety control module is used to ensure the safety performance of the converter automatic steel-tapping. The specific types of safety control are as follows:

[0105] 1) Determine whether the issued tilt angle steel-making curve meets the requirements of the automatic steel-making curve. If it does, it meets the safety control requirements. The algorithm model issues a steel-making curve of 15 to 50 steps. The target value of each step of the steel-making curve is compared with the target value of the previous step of the steel-making curve, i.e., the step difference. The step difference is compared to see if it is within a reasonable threshold. In this example, the reasonable threshold is 2.5°. If it is within the reasonable threshold, the steel-making curve of this furnace meets the safety control requirements. If not, it will be stopped immediately and an alarm will be sent to the HMI and the site.

[0106] 2) Determine whether the steel tapping position curve of the ladle car issued meets the requirements of the automatic steel tapping curve. If so, it complies with safety control. Through the dynamic matching position curve of the furnace car issued by the algorithm model, judge whether the target position of the ladle car for every two degrees of the converter tilting angle is within the maximum ladle car position inclusion line allowed by the tilting angle range. For example, the target position of the ladle car corresponding to the tilting angle of -22° to -78° is 54 meters (the distance between the ladle car and the diffuse reflection laser rangefinder is 54 meters). The safety position of the ladle car inclusion line at this angle is 53.7m to 54.3m. If it is within the reasonable threshold range, the steel tapping curve of this furnace meets the safety control requirements. If not, it will be stopped immediately and an alarm will be sent to the HMI and the site.

[0107] 3) Determine whether the actual steel-making curve is executed in accordance with the target steel-making curve. If it is satisfied, it complies with safety control. That is, through the logical judgment of 1) and 2), add a comparison between the actual value and the target value at each step to determine whether it is within a reasonable threshold. If it is within the reasonable threshold range, the steel-making curve of this furnace meets the safety control requirements. If not, it will be stopped immediately and an alarm will be sent to the HMI and the site;

[0108] 4) Determine whether there is a communication failure between the algorithm model server and the converter automatic steel-tapping PLC control cabinet. If there is a failure, emergency stop is performed and an alarm is issued to the HMI and the site;

[0109] 5) Determine whether there is a communication failure between the converter automatic steel-tapping PLC control cabinet and the tilting inverter and ladle car inverter. If there is a failure, emergency stop will be performed and an alarm will be issued to the HMI and the site;

[0110] 6) Determine whether there is a communication failure in the redundant distance meter of the ladle car. If there is a communication failure, emergency stop will be performed and an alarm will be issued to the HMI and the site;

[0111] 7) Determine whether the tilt encoder has a communication failure. If there is a communication failure, emergency stop will be performed and an alarm will be sent to the HMI and the site;

[0112] 8) Determine whether the ladle car distance meter has a sudden change. If the distance meter data suddenly changes and recovers within 2S, no processing will be done and only an alarm will be sent to the HMI. If the distance meter data suddenly changes and fails to recover within 2S, an emergency stop will be performed and an alarm will be sent to the HMI and the site.

[0113] 9) If the redundant position deviation of the ladle car is large, the difference between the two redundant distance meters is compared in real time. If the difference is greater than 500mm, an emergency stop is performed and an alarm is issued to the HMI and the site;

[0114] 10) Determine whether the tilt encoder has a sudden change. If the tilt encoder changes more than 5° during the operation of the tilt inverter or more than 2° during the stop of the tilt inverter, an emergency stop will be initiated and an alarm will be issued to the HMI and the site;

[0115] 11) Determine the redundant fault of the tilt encoder, and perform cumulative calculations through the real-time feedback speed of the tilt inverter to obtain a data value of the tilt angle, and compare the deviation with the actual collected tilt encoder data value. If the deviation is greater than 2°, emergency stop is performed, and an alarm is issued to the HMI and the site;

[0116] 12) Determine the operation of the slag cone delivery device and the time when the converter is tilting and shaking the furnace to tap steel, that is, in the angle range of -85° to -96°, the slag cone delivery device has completed its operation and returned to the waiting position. If it does not return within this time zone and position zone, the automatic shaking furnace fails, stops urgently, and sends an alarm to the HMI and the site;

[0117] 13) If the deviation between the target angle and the actual angle of the automatic steel-discharging process is greater than 2°, an emergency stop will be made and an alarm will be sent to the HMI and the site;

[0118] Specifically, in 12) of the safety control type, the waiting position of the slag stop cone delivery device forms a redundant judgment with the visual recognition result determined by the first thermal imaging camera, with the mechanical limit waiting position as the main one and supplemented by the visual recognition result determined by the first thermal imaging camera. If the time zone and position zone of the slag stop cone delivery device operation are exceeded and there is no signal at the mechanical limit waiting position, even if the visual recognition result shows that the slag stop cone device has exited the furnace mouth, an alarm is issued to the HMI and the site, prompting manual access confirmation.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A converter automatic steel tapping system used in conjunction with a slag stopper, characterized in that: It includes an automatic control system for controlling the automatic steel tapping of a converter, an algorithm control system and an image intelligent perception system. The algorithm control system is connected to the automatic control system to send the optimal tilting steel tapping curve, the furnace car dynamic matching position curve and the optimal alloy unloading point position curve to the automatic control system. The image intelligent perception system is used to detect the state of the corresponding position of the converter steel tapping process, and is connected to the algorithm control system to send the detected state information to the algorithm control system.

2. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 1 is characterized in that: The automatic control system includes a converter tilting control module, a ladle car travel control module and an alloy unloading control module; the algorithm control system includes an optimal tilting steel-discharging curve algorithm module, a furnace car dynamic matching position curve module and an alloy feeding algorithm module; the image intelligent perception system includes a converter furnace mouth slag overflow detection module, a furnace under-steel flow landing point detection module and a furnace slag cone recognition module.

3. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 2 is characterized in that: The converter tilting control module, the ladle car travel control module and the alloy unloading control module are placed in a PLC control cabinet, the optimal tilting steel-discharging curve algorithm module, the furnace car dynamic matching position curve module and the alloy feeding algorithm module are placed in a model algorithm server, the converter furnace mouth slag overflow detection module, the furnace steel flow landing point detection module and the furnace slag cone recognition module are placed in an image intelligent recognition server, and the image intelligent recognition server is connected to the model algorithm server, and the model algorithm server is connected to the PLC control cabinet.

4. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 3 is characterized in that: The converter tilting control module is respectively connected to the tilting frequency converter and the tilting encoder to control the converter tilting, the ladle car travel control module is respectively connected to the ladle car frequency converter and the distance measuring device to control the travel of the ladle car, and the alloy unloading control module is connected to the alloy rotating chute motor to control the alloy unloading.

5. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 4 is characterized in that: The converter mouth slag overflow detection module and the furnace slag cone identification module are both connected to the furnace mouth slag overflow detection camera to detect the furnace mouth slag overflow and the slag cone status, and the furnace bottom steel flow landing point detection module is connected to the steel flow detection camera to detect the steel flow landing point.

6. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 5, characterized in that: The tilting frequency converter is connected to the converter tilting transmission device to control the tilting of the converter, and the tilting encoder is used to detect the tilting angle of the converter; The ladle car frequency converter is connected to the ladle car running device to control the running of the ladle car.

7. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 6, characterized in that: The distance measuring device comprises two diffuse reflection laser distance measuring devices arranged at the ends of the track for carrying the running device of the ladle car, so as to detect the actual position of the ladle car in real time.

8. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 7, characterized in that: The converter tilting control module is also connected to the slag stop cone placing device to control the slag stop cone placing device to place the slag stop cone into the converter furnace mouth when the converter tilts to a specified angle.

9. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 8, characterized in that: The automatic control system also includes an interlocking control module connected to the converter tilting control module, the ladle car travel control module and the alloy unloading control module, so as to issue an alarm when a situation that does not meet the safety control requirements occurs during the converter steelmaking process.

10. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 9, characterized in that: The automatic control system also includes an interlocking control module connected to the converter tilting control module, the ladle car running control module, the alloy unloading control module and the safety control module, so that when the linkage control conditions are not met, the converter tilting control module, the ladle car running control module, the alloy unloading control module and the safety control module are locked through the interlocking control module.

11. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 10, characterized in that: It also includes an operation station, and the algorithm control system and the operation station are connected to the automatic control system through a switch. The operation station includes an HMI touch screen, an engineer workstation and data analysis software to send and receive information.

12. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 11, characterized in that: The operating station also includes an audible and visual alarm device to cooperate with the safety control module to issue an audible and visual alarm.

13. The converter automatic steel tapping system used in conjunction with the slag stopper according to claim 12, characterized in that: It also includes a slag detection system for detecting the steel-slag ratio, and the slag detection system is connected to the converter tilting control module.

14. A converter automatic steel tapping method used in conjunction with a slag stopper, characterized in that: The automatic steel-tapping system for a converter used in conjunction with a slag-blocking cone as described in claim 13 specifically comprises the following steps: S1. When the molten steel of this batch reaches 80% of the smelting cycle, after confirming that the ladle car is successfully seated and the tank sand drainage has been completed, the ladle car is driven into the automatic tapping control range and waits for tapping; S2. After the gun operator completes the temperature measurement and sampling in front of the furnace and pouring the slag, he drives the slag tank car away from the slag receiving position under the furnace; S3. After the gun operator confirms that step S1 and step S2 are completed, the automatic steel-tapping mode is selected, and the automatic steel-tapping mode includes the L2 control mode. The steel-tapping control curve in the L2 control mode is trained by the algorithm control system according to the metallurgical theory and the big data self-learning historical shaking furnace data curve combined with the image intelligent perception deep learning algorithm, and the steel-tapping control curves of different periods are established based on the life of the steel-tapping port, so as to select the optimal steel-tapping control curve to realize automatic steel-tapping control; S4. The tapping worker confirms that the automatic tapping interlocking conditions are met. If not, manual safety reset is required; S5. The steel tapper makes an automatic steel tapping instruction in the operation station, and the converter tilting control module in the automatic control system receives the optimal tilting steel tapping curve for the current furnace issued by the algorithm control system, and controls the converter to run at the third tilting speed to 65°, then at the second tilting speed to 70°, and then at the first tilting speed to the first initial target angle of 78° to 82° for converter steel tapping. When the converter reaches the first initial target angle, the converter tilting control module controls the converter according to the optimal tilting steel tapping curve; At the same time, the ladle car travel control module receives the dynamic matching position curve of the current furnace car sent by the algorithm control system, so that the ladle car automatically travels to the target position corresponding to the converter tilting angle, and detects the actual position of the ladle car in real time through the distance measuring device, and takes the difference D between the target position and the actual position as the criterion. When 20mm≤D≤500mm, the ladle car travels to the target position at the first travel speed, when 500mm≤D≤2000mm, the ladle car travels to the target position at the second travel speed, when 2000mm≤D≤5000mm, the ladle car travels to the target position at the third travel speed, and when 5000mm≤D≤30000mm, the ladle car travels to the target position at the fourth travel speed, so that the distance deviation between the actual position of the ladle car and the target position is within 20mm, thereby forming a dynamic matching relationship between the travel of the ladle car and the converter tilting; S6. When the converter automatically tilts to the angle range where the slag stop cone is placed by the slag stop cone placing device, the converter tilting control module controls the converter to stop tilting, and controls the slag stop cone placing device to run to place the slag stop cone in the converter furnace mouth. When the slag stop cone placing device completes the placement, a feedback signal is given to the converter tilting control module, and the converter tilting control module controls the converter to continue tilting until automatic steel tapping is completed.

15. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 14, characterized in that: In step S5, the first tilting speed is 0.15 r / min to 0.225 r / min, the second tilting speed is 0.45 r / min to 0.6 r / min, and the third tilting speed is 0.9 r / min to 1.14 r / min; The first running speed is 1.4m / min~2.1m / min, the second running speed is 3.5m / min, the third running speed is 10m / min, and the fourth running speed is 35m / min.

16. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 14, characterized in that: In step S5, the converter tilting control module controls the converter tilting by setting a virtual handle in the converter tilting control module and controlling the converter tilting by the virtual handle.

17. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 14, characterized in that: An angle encoder is arranged on the output shaft of the alloy rotary chute motor, and the angle encoder is connected to the alloy unloading control module to control the landing point position of the alloy unloading chute.

18. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 17, characterized in that: In step S5, during the process of the converter tilting control module controlling the converter tilting to automatically tap steel, the alloy unloading control module connects to the alloy baking device to receive the alloy weight value in the alloy baking device and calculates the A value of the corresponding time period. 目标值下限 and A 目标值上限 , before the unloading gate of the alloy baking machine is opened, record the alloy weight as W1, control the initial opening of the unloading gate to 50%, if the weight W is recorded from the time when the unloading gate is opened 50% to the first unloading flow measurement time T1 T1 ,calculate And calculate the A of the corresponding period through the alloy feeding control module 目标值下限 and A 目标值上限 , if a<A 目标值下限 Then the control gate opening increases by 15%. If a>A 目标值上限 Then the opening of the unloading gate is controlled to decrease by 10%, and so on. The entire alloy unloading is divided into n time periods, and the unloading speed of each time period is calculated to control the unloading amount of the alloy, so as to prevent the alloy material from falling into the ladle car in block form, which will cause uneven alloying of the ladle car.

19. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 14, characterized in that: The converter tilting control module controls the converter tilting through a tilting frequency converter, and the tilting frequency converter includes four tilting frequency converters to correspondingly control the three-phase AC asynchronous motors in the four converter tilting transmission devices; The converter tilting control module communicates with four tilting frequency conversion devices in real time using an industrial Ethernet bus, and a master-slave control strategy is adopted for the tilting frequency conversion devices.

20. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 14, characterized in that: In step S6, when the slag stop cone placing device is running to place the slag stop cone in the converter furnace mouth, the safety control module determines the operating status of the slag stop cone placing device in real time. If it is operating normally, automatic steel discharge continues; if it is abnormal, an emergency stop command is issued and manual intervention is requested.

21. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 20, characterized in that: Also includes steps S7 and S8; S7. During the automatic steel tapping process, the safety control module uses the furnace mouth slag overflow detection camera and the steel flow detection camera to determine the furnace mouth slag overflow level, steel flow landing point and ladle car position in real time to ensure the real-time safety control of automatic steel tapping; S8. The converter tilting control module is linked with the slag detection system. When the slag detection system detects that the steel-slag ratio is greater than the slag amount allowed by production, the converter automatically ends tapping, and at the same time the converter tilts to the range of -22 to 24° to facilitate the maintenance workers behind the furnace to maintain the tapping port.

22. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 21, characterized in that: In step S6, the method by which the safety control module determines the operating state of the slag cone delivery device is: A mechanical limit is set at the standby position of the running track of the slag stop cone delivery device, and is connected to the safety control module through hard wiring to detect the operating position of the slag stop cone delivery device, and the image of the slag stop cone delivery device moving forward to the working position to deliver the slag stop cone during the converter steelmaking process is observed through the furnace mouth slag overflow detection camera, and the position signal of the slag stop cone delivery device observed by the furnace mouth slag overflow detection camera is transmitted to the safety control module for redundant position comparison and judgment with the mechanical limit, thereby determining whether the slag stop cone delivery device is operating normally when the converter automatically tilts to the angle range where the slag stop cone is delivered by the slag stop cone delivery device.

23. The automatic steel tapping method of converter used in conjunction with the slag stopper according to claim 21, characterized in that: In step S7, the method by which the safety control module determines the furnace mouth slag overflow level, the steel flow landing point, and the ladle car position is: The furnace mouth slag overflow detection camera is used to identify the furnace mouth slag overflow level, and the furnace mouth slag overflow level is divided into R1~R5 levels. If the furnace mouth slag overflow level is R1~R3, combined with the smelting production permission, the safety control module sends an HMI alarm. If the furnace mouth slag overflow level is R4, combined with the smelting production permission, the safety control module cooperates with the converter tilting control module to lift the converter back by 1.5°. If the furnace mouth slag overflow level is R5, combined with the smelting production permission, the safety control module cooperates with the converter tilting control module to lift the converter back by 2~3°. The steel flow detection camera is used to observe the steel flow landing point and the position of the ladle car under the furnace, and the network data cable is used to connect to the algorithm server for intelligent image perception calculation and processing. If the steel flow landing point is within the inclusion line of the steel flow landing point allowed by the ladle, the automatic steel tapping system of the converter will not alarm; if the steel flow landing point is outside the inclusion line of the steel flow landing point allowed by the ladle, the automatic steel tapping system of the converter will immediately issue a red alarm, and the converter will be shaken back to 0°; if the steel flow landing point is within the inclusion line of the steel flow landing point allowed by the ladle, and deviates from the maximum safe distance of the ladle center, the ladle car travel control module will issue the latest ladle car target position, and control the automatic travel of the ladle car to ensure that the steel flow landing point is within the minimum safe distance of the ladle center.

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